Minkowski Operations of Sets with Application to Robot Localization

Desrochers, Benoît; Jaulin, Luc

doi:10.4204/eptcs.247.3

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“…Nowadays, IA is largely used in robotics [16,17]. Recent works use IA to compute robot trajectories and the guaranteed explored zone by a robot [18][19][20].…”

Section: Presentationmentioning

confidence: 99%

BSplines Properties with Interval Analysis for Constraint Satisfaction Problem: Application in Robotics

Kalawoun¹,

Lengagne²,

Bouchon³

et al. 2018

Intelligent Autonomous Systems 15

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Interval Analysis is a mathematical tool that could be used to solve Constraint Satisfaction Problem. It guarantees solutions, and deals with uncertainties. However, Interval Analysis suffers from an overestimation of the solutions, i.e. the pessimism. In this paper, we initiate a new method to reduce the pessimism based on the convex hull properties of BSplines and the Kronecker product. To assess our method, we compute the feasible workspace of a 2D manipulator taking into account joint limits, stability and reachability constraints: a classical Constraint Satisfaction Problem in robotics.

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“…Nowadays, IA is largely used in robotics [16,17]. Recent works use IA to compute robot trajectories and the guaranteed explored zone by a robot [18][19][20].…”

Section: Presentationmentioning

confidence: 99%